相关论文: RAG-3DSG: Enhancing 3D Scene Graphs with Re-Shot G…

Scene Graph Generation (SGG) structures visual scenes as graphs of objects and their relations. While Multimodal Large Language Models (MLLMs) have advanced end-to-end SGG, current methods are hindered by both a lack of task-specific…

Recent advancements in large language models (LLMs) have shown impressive versatility across various tasks. To eliminate their hallucinations, retrieval-augmented generation (RAG) has emerged as a powerful approach, leveraging external…

Large language models (LLMs) struggle with the factual error during inference due to the lack of sufficient training data and the most updated knowledge, leading to the hallucination problem. Retrieval-Augmented Generation (RAG) has gained…

Semantic segmentation of outdoor street scenes plays a key role in applications such as autonomous driving, mobile robotics, and assistive technology for visually-impaired pedestrians. For these applications, accurately distinguishing…

Retrieval-Augmented Generation (RAG) enhances the response quality and domain-specific performance of large language models (LLMs) by incorporating external knowledge to combat hallucinations. In recent research, graph structures have been…

Graph-based Retrieval-Augmented Generation (RAG) systems leverage interconnected knowledge structures to capture complex relationships that flat retrieval struggles with, enabling multi-hop reasoning. Yet most existing graph-based methods…

A significant challenge facing current optical flow and stereo methods is the difficulty in generalizing them well to the real world. This is mainly due to the high costs required to produce datasets, and the limitations of existing…

Articulated objects, as prevalent entities in human life, their 3D representations play crucial roles across various applications. However, achieving both high-fidelity textured surface reconstruction and dynamic generation for articulated…

Scene Graph Generation (SGG) unifies object localization and visual relationship reasoning by predicting boxes and subject-predicate-object triples. Yet most pipelines treat SGG as a one-shot, deterministic classification problem rather…

Change detection plays a vital role in scene monitoring, exploration, and continual reconstruction. Existing 3D change detection methods often exhibit spatial inconsistency in the detected changes and fail to explicitly separate pre- and…

Multimodal Retrieval-Augmented Generation (MRAG) enhances large language models (LLMs) by integrating multimodal data (text, images, videos) into retrieval and generation processes, overcoming the limitations of text-only…

Open-vocabulary panoptic reconstruction is crucial for advanced robotics and simulation. However, existing 3D reconstruction methods, such as NeRF or Gaussian Splatting variants, often struggle to achieve the real-time inference frequency…

Current Visual Simultaneous Localization and Mapping (VSLAM) systems often struggle to create maps that are both semantically rich and easily interpretable. While incorporating semantic scene knowledge aids in building richer maps with…

Representing and understanding 3D environments in a structured manner is crucial for autonomous agents to navigate and reason about their surroundings. While traditional Simultaneous Localization and Mapping (SLAM) methods generate metric…

3D scene graph generation (SGG) has been of high interest in computer vision. Although the accuracy of 3D SGG on coarse classification and single relation label has been gradually improved, the performance of existing works is still far…

While 3D Gaussian Splatting (3DGS) enables high-quality, real-time rendering for bounded scenes, its extension to large-scale urban environments gives rise to critical challenges in terms of geometric consistency, memory efficiency, and…

Recent advancements in 3D scene understanding have made significant strides in enabling interaction with scenes using open-vocabulary queries, particularly for VR/AR and robotic applications. Nevertheless, existing methods are hindered by…

Retrieval-Augmented Generation (RAG) integrates external knowledge with Large Language Models (LLMs) to enhance factual correctness and mitigate hallucination. However, dense retrievers often become the bottleneck of RAG systems due to…

Implicit neural representations have shown compelling results in offline 3D reconstruction and also recently demonstrated the potential for online SLAM systems. However, applying them to autonomous 3D reconstruction, where a robot is…

Retrieval-Augmented Generation (RAG) merges retrieval methods with deep learning advancements to address the static limitations of large language models (LLMs) by enabling the dynamic integration of up-to-date external information. This…